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<a href="triangulate_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// License Notice</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// This file could be modified to use the CGAL library Triangulation_2 core.</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// That library is available under a Commercial or GNU GPL license.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// If you modify this file to use that library for fast triangulation, use of</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// CommonRoad as a whole is also bound by the license conditions of that</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// external library. See the file License.txt in the</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// commonroad-collision-checker root folder for more details.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// Use of this feature is optional and one can use the default Triangle library</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">// for triangulation of polygons instead.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="triangulate_8h.html">collision/plugins/triangulation/triangulate.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="triangulate_8cc.html#a65b6bcd4f3378946ad44a473897828d7">   14</a></span>&#160;<span class="preprocessor">#define ENABLE_CGAL 0</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#if ENABLE_TRIANGULATION</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#if ENABLE_CGAL</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;CGAL/Constrained_Delaunay_triangulation_2.h&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;CGAL/Delaunay_mesh_face_base_2.h&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;CGAL/Delaunay_mesh_size_criteria_2.h&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;CGAL/Delaunay_mesher_2.h&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;CGAL/Exact_predicates_inexact_constructions_kernel.h&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;CGAL/Polygon_2.h&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">namespace </span>triangulation {</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keywordtype">int</span> triangulate(std::vector&lt;Eigen::Vector2d&gt; vertices,</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                std::vector&lt;collision::TriangleConstPtr&gt; &amp;triangles_out) {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="keyword">typedef</span> CGAL::Exact_predicates_inexact_constructions_kernel K;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <span class="keyword">typedef</span> CGAL::Exact_predicates_tag Itag;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="keyword">typedef</span> CGAL::Constrained_Delaunay_triangulation_2&lt;K, CGAL::Default, Itag&gt;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      CDT;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">typedef</span> CDT::Point Point;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <span class="keyword">typedef</span> CGAL::Polygon_2&lt;K&gt; Polygon_2;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  CDT cdt;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  Polygon_2 polygon1;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;el : vertices) {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    polygon1.push_back(Point(el[0], el[1]));</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  }</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  cdt.insert_constraint(polygon1.vertices_begin(), polygon1.vertices_end(),</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                        <span class="keyword">true</span>);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordflow">for</span> (CDT::Finite_faces_iterator fit = cdt.finite_faces_begin();</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;       fit != cdt.finite_faces_end(); ++fit) {</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    Eigen::Vector2d vert1(cdt.triangle(fit)[0].x(), cdt.triangle(fit)[0].y());</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    Eigen::Vector2d vert2(cdt.triangle(fit)[1].x(), cdt.triangle(fit)[1].y());</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    Eigen::Vector2d vert3(cdt.triangle(fit)[2].x(), cdt.triangle(fit)[2].y());</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    triangles_out.emplace_back(<span class="keyword">new</span> <a class="code" href="classcollision_1_1_triangle.html">collision::Triangle</a>(vert1, vert2, vert3));</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  }</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;}</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keywordtype">int</span> triangulateQuality(std::vector&lt;Eigen::Vector2d&gt; vertices,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                       std::vector&lt;collision::TriangleConstPtr&gt; &amp;triangles_out,</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;                       <span class="keywordtype">double</span> quality_b) {</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">typedef</span> CGAL::Exact_predicates_inexact_constructions_kernel K;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">typedef</span> CGAL::Triangulation_vertex_base_2&lt;K&gt; Vb;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">typedef</span> CGAL::Delaunay_mesh_face_base_2&lt;K&gt; Fb;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">typedef</span> CGAL::Triangulation_data_structure_2&lt;Vb, Fb&gt; Tds;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">typedef</span> CGAL::Constrained_Delaunay_triangulation_2&lt;K, Tds&gt; CDT;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">typedef</span> CGAL::Delaunay_mesh_size_criteria_2&lt;CDT&gt; Criteria;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keyword">typedef</span> CDT::Vertex_handle Vertex_handle;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">typedef</span> CDT::Point Point;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">typedef</span> CGAL::Polygon_2&lt;K&gt; Polygon_2;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  Polygon_2 polygon1;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;el : vertices) {</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    polygon1.push_back(Point(el[0], el[1]));</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  }</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  CDT cdt;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  cdt.insert_constraint(polygon1.vertices_begin(), polygon1.vertices_end(),</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                        <span class="keyword">true</span>);</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  CGAL::refine_Delaunay_mesh_2(cdt, Criteria(quality_b, 0));</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keywordflow">for</span> (CDT::Finite_faces_iterator fit = cdt.finite_faces_begin();</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;       fit != cdt.finite_faces_end(); ++fit) {</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    Eigen::Vector2d vert1(cdt.triangle(fit)[0].x(), cdt.triangle(fit)[0].y());</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    Eigen::Vector2d vert2(cdt.triangle(fit)[1].x(), cdt.triangle(fit)[1].y());</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    Eigen::Vector2d vert3(cdt.triangle(fit)[2].x(), cdt.triangle(fit)[2].y());</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    triangles_out.emplace_back(<span class="keyword">new</span> <a class="code" href="classcollision_1_1_triangle.html">collision::Triangle</a>(vert1, vert2, vert3));</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;} <span class="comment">// namespace triangulation</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="triangulate_8h_html"><div class="ttname"><a href="triangulate_8h.html">triangulate.h</a></div></div>
<div class="ttc" id="classcollision_1_1_triangle_html"><div class="ttname"><a href="classcollision_1_1_triangle.html">collision::Triangle</a></div><div class="ttdoc">Triangle.</div><div class="ttdef"><b>Definition:</b> <a href="triangle_8h_source.html#l00017">triangle.h:17</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
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